CN110949556B - Soft robot and air path control device and control method thereof - Google Patents
Soft robot and air path control device and control method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/021—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members the ground engaging means being sequentially inflatable bags for peristaltic movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The application discloses a soft robot, a gas circuit control device and a control method thereof, wherein the gas circuit control device comprises a singlechip module, a main air pump module, a main high-pressure energy storage cylinder and a main low-pressure energy storage cylinder; the singlechip module is used for controlling the circulation flow between the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder by controlling the main air pump module, and controlling the communication between the main high-pressure energy storage cylinder and the outside by controlling the main air pump module. According to the technical scheme, different action control of the pneumatic execution module of the control software robot is realized through the air pressure difference between the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder, and meanwhile, the outside air is acquired through the air pressure difference between the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder so as to compensate the air lost in the working process of the air circuit control device, continuous operation can be ensured without continuously charging and discharging, the working efficiency of the software robot is high, and the stability of the software robot is improved.
Description
Technical Field
The application relates to the technical field of robot control, in particular to a gas path control device of a software robot, the software robot using the gas path control device and a gas path control method.
Background
The soft robot is a novel soft robot, can adapt to various unstructured environments and is safer in interaction with human beings. Compared with the traditional rigid robot, the soft robot body is made of soft materials, and is generally considered as materials with Young's modulus lower than human muscles; unlike traditional robot motor drives, the driving mode of soft robots mainly depends on the intelligent materials used, generally comprises Dielectric Elastomer (DE), ionic Polymer Metal Composite (IPMC), shape Memory Alloy (SMA), shape Memory Polymer (SMP) and the like, and most soft robots are designed to simulate various living things in nature, such as earthworms, octopus, jellyfish and the like, have special folding effects, can be folded by using a correct method, can be bonded at proper places, and can realize jumping, creeping and grasping. The method can be mainly applied to the following 3 fields, namely application in the field of man-machine interaction, application in the field of medicine and application in a complex environment.
The existing soft robot pneumatic driving mode utilizes an air pump to realize the air charging and discharging, and utilizes the positive and negative rotation of the air pump to charge air, and the air suction is used for realizing the pneumatic driving of the soft robot, so that the existing soft robot cannot continuously operate, the working efficiency of the soft robot is reduced to a certain extent, and in addition, the existing soft robot needs to be continuously charged and discharged, so that the stability of the soft robot is not facilitated.
Disclosure of Invention
The application aims to provide a gas path control device of a soft robot, the soft robot applying the gas path control device and a gas path control method, which are used for solving one or more technical problems in the prior art and at least providing a beneficial selection or creation condition.
The technical scheme adopted for solving the technical problems is as follows:
the air path control device of the soft robot comprises a singlechip module, a main air pump module, a main high-pressure energy storage cylinder and a main low-pressure energy storage cylinder;
the singlechip module is respectively and electrically connected with the main air pump module, the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder;
the singlechip module is used for controlling the circulating flow between the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder by controlling the main air pump module, and controlling the communication between the main high-pressure energy storage cylinder and the outside by controlling the main air pump module according to the air pressure difference between the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder.
As a further improvement of the technical scheme, the gas circuit control device further comprises a relay high-pressure energy storage cylinder and a relay low-pressure energy storage cylinder;
the singlechip module is respectively and electrically connected with the relay high-pressure energy storage cylinder and the relay low-pressure energy storage cylinder;
the main high-pressure energy storage cylinder is communicated with the relay high-pressure energy storage cylinder, and the main low-pressure energy storage cylinder is communicated with the relay low-pressure energy storage cylinder.
According to the technical scheme, the relay high-pressure energy storage cylinder and the relay low-pressure energy storage cylinder are arranged, so that the buffering effect on the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder can be achieved when the pneumatic execution module of the soft robot is controlled.
As a further improvement of the above technical solution, the main air pump module includes an electric air pump, a stop valve, a deflation valve and a gas compensating valve;
the singlechip module is respectively and electrically connected with the electric air pump, the stop valve, the air release valve and the air compensation valve;
the stop valve is arranged on a connecting channel of the electric air pump and the outside, the air release valve is arranged on a connecting channel of the electric air pump and the main high-pressure energy storage cylinder, and the air compensation valve is arranged on a connecting channel of the electric air pump and the main low-pressure energy storage cylinder.
According to the technical scheme, through the arrangement of the stop valve, the air release valve and the air compensating valve, the singlechip module is convenient to control the circulating flow between the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder and control the communication between the main high-pressure energy storage cylinder and the outside.
As a further improvement of the technical scheme, the inside of the main high-pressure energy storage cylinder and the inside of the main low-pressure energy storage cylinder are respectively provided with an air pressure sensor, the main high-pressure energy storage cylinder, the main low-pressure energy storage cylinder, the relay high-pressure energy storage cylinder and the relay low-pressure energy storage cylinder are respectively provided with an electromagnetic valve, and the singlechip module is respectively electrically connected with each air pressure sensor and each electromagnetic valve.
According to the technical scheme, the air pressure sensor is used for respectively detecting the air pressure values in the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder in real time, the main high-pressure energy storage cylinder, the main low-pressure energy storage cylinder, the relay high-pressure energy storage cylinder and the relay low-pressure energy storage cylinder are respectively controlled through the electromagnetic valve and are communicated with the pneumatic execution module in the soft robot, so that the air pressure inside the pneumatic execution module in the soft robot is conveniently controlled in real time.
The application also discloses a soft robot which comprises a serial pneumatic execution module, a parallel pneumatic execution module and the gas circuit control device, wherein the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder are respectively communicated with the serial pneumatic execution module, and the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder are respectively communicated with the parallel pneumatic execution module.
As a further improvement of the technical scheme, the gas circuit control device further comprises a relay high-pressure energy storage cylinder and a relay low-pressure energy storage cylinder;
the singlechip module is respectively and electrically connected with the relay high-pressure energy storage cylinder and the relay low-pressure energy storage cylinder;
the main high-pressure energy storage cylinder is communicated with the relay high-pressure energy storage cylinder to form a total high-pressure energy storage cylinder, and the main low-pressure energy storage cylinder is communicated with the relay low-pressure energy storage cylinder to form a total low-pressure energy storage cylinder;
the total low-pressure energy storage cylinder is respectively communicated with the serial pneumatic execution module and the parallel pneumatic execution module.
According to the technical scheme, the relay high-pressure energy storage cylinder and the relay low-pressure energy storage cylinder are arranged, so that the buffering effect on the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder can be achieved when the parallel pneumatic execution module and the serial pneumatic execution module of the soft robot are controlled.
The application also discloses a control method of the air path control device of the soft robot, which comprises the following steps:
step 100, detecting the air pressure value of the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder respectively;
step 200, calculating the air pressure difference between the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder;
step 300, judging whether the air pressure difference is smaller than a preset trigger value, if so, acquiring external air, controlling the main air pump module to generate high-pressure air, inputting the high-pressure air into the main high-pressure energy storage cylinder, and if not, continuing to execute the operation downwards;
step 400, obtaining low-pressure gas in the main low-pressure energy storage cylinder, controlling the main air pump module to generate high-pressure gas, and inputting the high-pressure gas into the main high-pressure energy storage cylinder.
As a further improvement of the above technical solution, the step 400 includes the following steps:
step 410, setting a first low-order critical value and a first high-order critical value of the main high-pressure energy storage cylinder, and setting a second low-order critical value and a second high-order critical value of the main low-pressure energy storage cylinder;
step 420, judging whether the air pressure value of the main low-pressure energy storage cylinder is higher than the second high-order critical value, if so, starting the main air pump module, obtaining the low-pressure air of the main low-pressure energy storage cylinder, reducing the air pressure value of the main low-pressure energy storage cylinder until the air pressure value of the main low-pressure energy storage cylinder is smaller than or equal to the second low-order critical value, and stopping running the main air pump module;
step 430, determining whether the air pressure value of the main high-pressure energy storage cylinder is lower than the first low-level critical value, if yes, starting the main air pump module to generate high-pressure air, inputting the high-pressure air into the main high-pressure energy storage cylinder, increasing the air pressure value of the main high-pressure energy storage cylinder until the air pressure value of the main high-pressure energy storage cylinder is greater than or equal to the first high-level critical value, and stopping running the main air pump module.
The beneficial effects of the application are as follows: according to the technical scheme, different action control of the pneumatic execution module of the control soft robot is realized through the air pressure difference between the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder, and meanwhile, the outside air is acquired through the air pressure difference between the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder so as to compensate the air lost in the working process of the air path control device, and the air pressure difference between the main high-pressure energy storage cylinder and the main low-pressure energy storage cylinder is maintained.
Drawings
The application is further described below with reference to the drawings and examples;
FIG. 1 is a circuit architecture diagram of the present application;
FIG. 2 is a schematic view of the structure of the soft robot of the present application;
FIG. 3 is a flow chart of the control method of the present application.
100. The device comprises a main air pump module, 110, an electric air pump, 120, a deflation valve, 130, an air supplementing valve, 140, a stop valve, 200, a main high-pressure energy storage cylinder, 300, a main low-pressure energy storage cylinder, 400, an air pressure sensor, 500, an electromagnetic valve, 600, a relay high-pressure energy storage cylinder, 700, a relay low-pressure energy storage cylinder, 900, a series pneumatic execution module, 910, a second execution device, 920, a second electronic valve, 800, a parallel pneumatic execution module, 810, a first execution device, 820 and a first electronic valve.
Detailed Description
Reference will now be made in detail to the present embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present application, but not to limit the scope of the present application.
In the description of the present application, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
In the description of the present application, if there is a word description such as "a plurality" or the like, the meaning of a plurality is one or more, and the meaning of a plurality is two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number.
In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Referring to fig. 1 and 2, the present application discloses a gas path control device of a soft robot, which comprises a single chip microcomputer module, a main air pump module 100, a main high-pressure energy storage cylinder 200 and a main low-pressure energy storage cylinder 300;
the single-chip microcomputer module is electrically connected with the main air pump module 100, the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 respectively;
the single-chip microcomputer module is used for controlling the circulation flow between the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 by controlling the main air pump module 100, and controlling the communication between the main high-pressure energy storage cylinder 200 and the outside by controlling the main air pump module 100 according to the air pressure difference between the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300.
According to the embodiment, different action control of the pneumatic execution module of the control software robot is realized through the air pressure difference between the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300, and meanwhile, the outside air is acquired through the air pressure difference between the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 so as to compensate the air lost in the working process of the air path control device, and the air pressure difference between the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 is maintained, so that the technical scheme can ensure continuous operation without continuously charging and discharging, and the working efficiency of the software robot is high, thereby being beneficial to improving the stability of the software robot.
The main air pump module 100 in this embodiment includes an electric air pump 110, a stop valve 140, a bleed valve 120, and a make-up valve 130; the single-chip microcomputer module is electrically connected with the electric air pump 110, the stop valve 140, the air release valve 120 and the air compensating valve 130 respectively; the stop valve 140 is disposed on a connection channel between the electric air pump 110 and the outside, the bleed valve 120 is disposed on a connection channel between the electric air pump 110 and the main high-pressure energy storage cylinder 200, and the air compensating valve 130 is disposed on a connection channel between the electric air pump 110 and the main low-pressure energy storage cylinder 300.
In this embodiment, the electric air pump 110 is mainly used for compressing or stretching a gas with a fixed volume inside to form a high-pressure gas or a low-pressure gas, and the generated high-pressure gas or low-pressure gas is used for controlling the air pressure values in the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300, so as to realize the circulation flow of the gas between the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300; in addition, the total amount of the gas circulating during the operation process is inevitably lost, so that the air pressure difference between the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 is gradually reduced, the circulating flow of the gas between the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 is difficult to maintain when the air pressure difference is reduced to a certain extent, and the action of the pneumatic execution module of the soft robot is also difficult to maintain, so that when the single chip microcomputer module detects that the air pressure difference between the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 is too low, the stop valve 140 is opened, and the external air is introduced into the electric air pump 110, so as to improve the air pressure difference between the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300.
In addition, in order to realize the detection of the air pressure difference between the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300, in this embodiment, an air pressure sensor 400 is required to be respectively disposed in the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300, so as to realize the detection of the air pressure value in the main high-pressure energy storage cylinder 200 and the air pressure value in the main low-pressure energy storage cylinder 300, and then the singlechip module realizes the corresponding operation function; in addition, because the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 need to be controlled to be communicated with the pneumatic execution module of the soft robot, in this embodiment, electromagnetic valves 500 are also required to be respectively arranged on the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300, so that the single-chip microcomputer module can control the communication on each air path.
Compared with the first embodiment, the second embodiment of the air path control device of the soft robot is mainly characterized by further comprising a relay high-pressure energy storage cylinder 600 and a relay low-pressure energy storage cylinder 700, wherein the singlechip module is respectively and electrically connected with the relay high-pressure energy storage cylinder 600 and the relay low-pressure energy storage cylinder 700; the main high pressure accumulator 200 communicates with the relay high pressure accumulator 600, and the main low pressure accumulator 300 communicates with the relay low pressure accumulator 700.
In the first embodiment of the air path control device, the moving parts of the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 have large mass and high moving speed, and when the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 are driven to operate at a high speed under a large load, large kinetic energy is generated, so that the instrument is easily damaged. Therefore, in the second embodiment of the air path control device, the relay high-pressure energy storage cylinder 600 is provided for the main high-pressure energy storage cylinder 200 to form an overall high-pressure energy storage cylinder, and the relay low-pressure energy storage cylinder 700 is provided for the main low-pressure energy storage cylinder 300 to form an overall low-pressure energy storage cylinder, so that when the overall high-pressure energy storage cylinder and the overall low-pressure energy storage cylinder cooperate to control the action of the pneumatic execution module, the kinetic energy of the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 can be reduced, the direct impact of the air entering and exiting from the pneumatic execution module on the channel connected with the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 is avoided, and the buffer effect on the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 is effectively achieved, thereby improving the working stability of the whole air path control device.
Of course, in this embodiment, the relay high-pressure energy storage cylinder 600 and the relay low-pressure energy storage cylinder 700 also need to be communicated with the pneumatic execution module of the soft robot, so in this embodiment, the relay high-pressure energy storage cylinder 600 and the relay low-pressure energy storage cylinder 700 also need to be provided with the electromagnetic valve 500 connected with the single-chip microcomputer module.
Referring to fig. 2, the present application also discloses a soft robot, wherein the first embodiment of the soft robot includes a serial pneumatic execution module 900, a parallel pneumatic execution module 800, and the first embodiment of the air path control device, the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 are respectively connected with the serial pneumatic execution module 900, and the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 are respectively connected with the parallel pneumatic execution module 800.
In this embodiment, the parallel pneumatic execution module 800 includes a plurality of first control branches, each first control branch includes two or more first execution devices 810 and a first electronic valve 820, the first execution devices 810 and the first electronic valves 820 are disposed on the first control branches at intervals, a first pressure sensor is disposed inside the first execution devices 810, the first pressure sensor and the first electronic valves 820 are respectively electrically connected with the single chip microcomputer module, and the first execution devices 810 are made of materials with strong flexibility and designed according to a bionics principle, so that transformation actions with different restorabilities can be realized.
In this embodiment, the serial pneumatic execution module 900 includes a plurality of second control branches, each second control branch includes a second execution device 910 and two or more second electronic valves 920, the second electronic valves 920 are respectively disposed at two ends of the second execution device 910, a second pressure sensor is disposed inside the second execution device 910, the second pressure sensor and the second electronic valve 920 are respectively electrically connected with the single-chip microcomputer module, and the second execution device 910 is made of a material with strong flexibility, and can implement transformation actions with different recoveries according to a bionics principle.
The second embodiment of the soft robot of the present application is different from the first embodiment in that, in the second embodiment, the gas circuit control device further includes a relay high-pressure energy storage cylinder 600 and a relay low-pressure energy storage cylinder 700; the singlechip module is respectively and electrically connected with the relay high-pressure energy storage cylinder 600 and the relay low-pressure energy storage cylinder 700; the main high-pressure energy storage cylinder 200 is communicated with the relay high-pressure energy storage cylinder 600 to form a total high-pressure energy storage cylinder, and the main low-pressure energy storage cylinder 300 is communicated with the relay low-pressure energy storage cylinder 700 to form a total low-pressure energy storage cylinder; the total low-pressure energy storage cylinder is respectively communicated with the serial pneumatic execution module 900 and the parallel pneumatic execution module 800, and the total low-pressure energy storage cylinder is respectively communicated with the serial pneumatic execution module 900 and the parallel pneumatic execution module 800.
Referring to fig. 3, the application also discloses a control method of the air path control device of the soft robot, the first embodiment of the application comprises the following steps:
step 100, detecting the air pressure values of the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300 respectively;
step 200, calculating the air pressure difference between the main high-pressure energy storage cylinder 200 and the main low-pressure energy storage cylinder 300;
step 300, judging whether the air pressure difference is smaller than a preset trigger value, if yes, obtaining external air, controlling the main air pump module 100 to generate high-pressure air, inputting the high-pressure air into the main high-pressure energy storage cylinder 200, otherwise, continuing to perform downward operation;
step 400, obtaining low-pressure gas in the main low-pressure energy storage cylinder 300, controlling the main air pump module 100 to generate high-pressure gas, and inputting the high-pressure gas into the main high-pressure energy storage cylinder 200.
Further as a preferred embodiment, in this embodiment, step 400 includes the steps of:
step 410, setting a first low-order critical value and a first high-order critical value of the main high-pressure energy storage cylinder 200, and setting a second low-order critical value and a second high-order critical value of the main low-pressure energy storage cylinder 300;
step 420, determining whether the air pressure value of the main low-pressure energy storage cylinder 300 is higher than the second high-level critical value, if yes, starting the main air pump module 100, obtaining the low-pressure air of the main low-pressure energy storage cylinder 300, reducing the air pressure value of the main low-pressure energy storage cylinder 300 until the air pressure value of the main low-pressure energy storage cylinder 300 is lower than or equal to the second low-level critical value, and stopping running the main air pump module 100;
step 430, determining whether the air pressure value of the main high-pressure energy storage cylinder 200 is lower than the first low-level critical value, if yes, starting the main air pump module 100 to generate high-pressure air, inputting the high-pressure air into the main high-pressure energy storage cylinder 200, increasing the air pressure value of the main high-pressure energy storage cylinder 200 until the air pressure value of the main high-pressure energy storage cylinder 200 is greater than or equal to the first high-level critical value, and stopping running the main air pump module 100.
While the preferred embodiment of the present application has been described in detail, the application is not limited to the embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the application, and these modifications and substitutions are intended to be included in the scope of the present application as defined in the appended claims.
Claims (3)
1. A soft robot, characterized by: comprises a series pneumatic execution module (900), a parallel pneumatic execution module (800) and a gas circuit control device;
the gas circuit control device comprises a singlechip module, a main air pump module (100), a main high-pressure energy storage cylinder (200) and a main low-pressure energy storage cylinder (300); the single-chip microcomputer module is electrically connected with the main air pump module (100), the main high-pressure energy storage cylinder (200) and the main low-pressure energy storage cylinder (300) respectively, and is used for controlling the circulation flow between the main high-pressure energy storage cylinder (200) and the main low-pressure energy storage cylinder (300) by controlling the main air pump module (100) and controlling the communication between the main high-pressure energy storage cylinder (200) and the outside by controlling the main air pump module (100) according to the air pressure difference between the main high-pressure energy storage cylinder (200) and the main low-pressure energy storage cylinder (300); the inside of the main high-pressure energy storage cylinder (200) and the inside of the main low-pressure energy storage cylinder (300) are respectively provided with an air pressure sensor (400), the main high-pressure energy storage cylinder (200) and the main low-pressure energy storage cylinder (300) are respectively provided with electromagnetic valves (500), and the singlechip module is respectively electrically connected with each air pressure sensor (400) and each electromagnetic valve (500);
the main high-pressure energy storage cylinder (200) and the main low-pressure energy storage cylinder (300) are respectively communicated with the serial pneumatic execution module (900), and the main high-pressure energy storage cylinder (200) and the main low-pressure energy storage cylinder (300) are respectively communicated with the parallel pneumatic execution module (800);
the gas circuit control device further comprises a relay high-pressure energy storage cylinder (600) and a relay low-pressure energy storage cylinder (700), and the singlechip module is respectively and electrically connected with the relay high-pressure energy storage cylinder (600) and the relay low-pressure energy storage cylinder (700); the main high-pressure energy storage cylinder (200) is communicated with the relay high-pressure energy storage cylinder (600) to form a total high-pressure energy storage cylinder, and the main low-pressure energy storage cylinder (300) is communicated with the relay low-pressure energy storage cylinder (700) to form a total low-pressure energy storage cylinder; the total low-pressure energy storage cylinder is respectively communicated with the serial pneumatic execution module (900) and the parallel pneumatic execution module (800), and the total low-pressure energy storage cylinder is respectively communicated with the serial pneumatic execution module (900) and the parallel pneumatic execution module (800);
the control method of the gas circuit control device comprises the following steps:
step 100, detecting the air pressure values of the main high-pressure energy storage cylinder (200) and the main low-pressure energy storage cylinder (300) respectively;
step 200, calculating the air pressure difference between the main high-pressure energy storage cylinder (200) and the main low-pressure energy storage cylinder (300);
step 300, judging whether the air pressure difference is smaller than a preset trigger value, if so, acquiring external air, controlling the main air pump module (100) to generate high-pressure air, inputting the high-pressure air into the main high-pressure energy storage cylinder (200), and if not, continuing to perform downward operation;
step 400, obtaining low-pressure gas in the main low-pressure energy storage cylinder (300), controlling the main air pump module (100) to generate high-pressure gas, and inputting the high-pressure gas into the main high-pressure energy storage cylinder (200);
wherein step 400 comprises the following:
step 410, setting a first low-order critical value and a first high-order critical value of the main high-pressure energy storage cylinder (200), and setting a second low-order critical value and a second high-order critical value of the main low-pressure energy storage cylinder (300);
step 420, judging whether the air pressure value of the main low-pressure energy storage cylinder (300) is higher than the second high-level critical value, if so, starting the main air pump module (100), obtaining low-pressure air of the main low-pressure energy storage cylinder (300), reducing the air pressure value of the main low-pressure energy storage cylinder (300) until the air pressure value of the main low-pressure energy storage cylinder (300) is smaller than or equal to the second low-level critical value, and stopping running the main air pump module (100);
step 430, determining whether the air pressure value of the main high-pressure energy storage cylinder (200) is lower than the first low-level critical value, if yes, starting the main air pump module (100) to generate high-pressure air, inputting the high-pressure air into the main high-pressure energy storage cylinder (200), increasing the air pressure value of the main high-pressure energy storage cylinder (200) until the air pressure value of the main high-pressure energy storage cylinder (200) is greater than or equal to the first high-level critical value, and stopping running the main air pump module (100).
2. A soft robot according to claim 1, characterized in that: the main air pump module (100) comprises an electric air pump (110), a stop valve (140), a deflation valve (120) and a gas supplementing valve (130);
the singlechip module is respectively and electrically connected with the electric air pump (110), the stop valve (140), the air release valve (120) and the air compensating valve (130);
the stop valve (140) is arranged on a connecting channel of the electric air pump (110) and the outside, the air release valve (120) is arranged on a connecting channel of the electric air pump (110) and the main high-pressure energy storage cylinder (200), and the air compensation valve (130) is arranged on a connecting channel of the electric air pump (110) and the main low-pressure energy storage cylinder (300).
3. A soft robot according to claim 1, characterized in that: the relay high-pressure energy storage cylinder (600) and the relay low-pressure energy storage cylinder (700) are respectively provided with electromagnetic valves (500), and the singlechip module is respectively and electrically connected with each electromagnetic valve (500).
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| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| CN1811201A (en) * | 2006-01-10 | 2006-08-02 | 江南大学 | Serial composite gas-liquid drive system |
| CN105598964A (en) * | 2016-01-25 | 2016-05-25 | 哈尔滨工业大学 | Independent gas supply pneumatic system capable of providing pneumatic muscles for working |
| WO2017011438A1 (en) * | 2015-07-13 | 2017-01-19 | President And Fellows Of Harvard College | Distributed pressurization and exhaust systems for soft robots |
| CN211391491U (en) * | 2019-12-04 | 2020-09-01 | 佛山科学技术学院 | Software robot and gas circuit control device thereof |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| CN1811201A (en) * | 2006-01-10 | 2006-08-02 | 江南大学 | Serial composite gas-liquid drive system |
| WO2017011438A1 (en) * | 2015-07-13 | 2017-01-19 | President And Fellows Of Harvard College | Distributed pressurization and exhaust systems for soft robots |
| CN105598964A (en) * | 2016-01-25 | 2016-05-25 | 哈尔滨工业大学 | Independent gas supply pneumatic system capable of providing pneumatic muscles for working |
| CN211391491U (en) * | 2019-12-04 | 2020-09-01 | 佛山科学技术学院 | Software robot and gas circuit control device thereof |
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